Fast and reliable minimal relative pose estimation under planar motion

作者：

Highlights：

• Two fast and reliable 2-point relative pose solvers are proposed under planar motion constraint.

• The solvers completely work in a closed-form with two point correspondence.

• The solvers overcome degenerate cases (no solution) while minimizing epipolar constraint.

• The solvers applied to on-road monocular visual odometry with two-step RANSAC.

摘要

•Two fast and reliable 2-point relative pose solvers are proposed under planar motion constraint.•The solvers completely work in a closed-form with two point correspondence.•The solvers overcome degenerate cases (no solution) while minimizing epipolar constraint.•The solvers applied to on-road monocular visual odometry with two-step RANSAC.

论文关键词：Relative pose estimation,Planar motion,Epipolar geometry,Essential matrix,2-point algorithm

论文评审过程：Received 13 September 2016, Revised 11 June 2017, Accepted 28 August 2017, Available online 6 September 2017, Version of Record 6 February 2018.

论文官网地址：https://doi.org/10.1016/j.imavis.2017.08.007